DAFTAR GAMBAR
Gambar 1.1 Metode Prototype ............................................................ I - 5 Gambar 2.1 Roda Standar ................................................................... II - 3 Gambar 2.2 Roda Jenis Universal Caster ............................................ II - 4 Gambar 2.3 Roda Omni Caster ........................................................... II - 4 Gambar 2.4 Roda Tank Treaded .......................................................... II - 5 Gambar 2.5 XBee Series 2 Terpasang pada XBee Shield (Libelium) ..... II - 16 Gambar 2.6 Cuplikan Program Blank .................................................. II - 17 Gambar 2.7 X-CTU Test/Query Result ................................................ II - 18 Gambar 2.8 XBee Setup ....................................................................... II - 19 Gambar 2.9 Flashing XBee Sukses ...................................................... II - 20 Gambar 2.10 Setting XBee Router ....................................................... II - 21 Gambar 2.11 Cek Konfigurasi ............................................................. II - 22 Gambar 2.12 Arduino SDK Board Support .......................................... II - 23 Gambar 2.13 Schematic Diagram IC Motor Driver L293D dan L298N II - 24 Gambar 2.14 ISIS Proteus 7 ................................................................. II - 24 Gambar 2.15 GUI Eclipse IDE ............................................................ II - 25 Gambar 3.1 Minat Seiring Waktu ........................................................ III - 2 Gambar 3.2 Minat Kawasan ................................................................. III - 2 Gambar 3.3 Istilah Terkait .................................................................. III - 3 Gambar 3.4 Use Case Diagram Sistem yang Ada ................................ III - 10
xvi
Gambar 3.5 Use Case Diagram Prototype Pertama ............................. III - 11 Gambar 3.6 Activity Diagram Kirim Instruksi Maju ............................ III - 13 Gambar 3.7 Activity Diagram Kirim Instruksi Belok Kanan ................ III - 13 Gambar 3.8 Activity Diagram Kirim Instruksi Mundur ........................ III - 14 Gambar 3.9 Activity Diagram Kirim Instruksi Belok Kiri .................... III - 14 Gambar 3.10 Activity Diagram Kirim Instruksi Stop ............................ III - 15 Gambar 3.11 Roda Jenis Caterpillar Tampak Depan ........................... III - 16 Gambar 3.12 Roda Jenis Caterpillar Tampak Samping ....................... III - 16 Gambar 3.13 IC L298N ....................................................................... III - 17 Gambar 3.14 Skematik Diagram Motor Driver .................................... III - 18 Gambar 3.15 Arduino Duemilanove degan ATMega328P-PU .............. III - 20 Gambar 3.16 ATMega328P-PU .......................................................... III - 20 Gambar 3.17 Pseudocode Mobile Robot Prototype Pertama ................ III - 21 Gambar 3.18 Arduino SDK dan X-CTU ................................................ III - 22 Gambar 3.19 Kabel USB FTDI ............................................................ III - 23 Gambar 3.20 Mobile Robot Prototype Pertama Tampak Depan ........... III - 23 Gambar 3.21 Use Case Diagram Prototype Kedua ............................... III - 26 Gambar 3.22 Gripper ........................................................................... III - 28 Gambar 3.23 Arduino SDK Berisi Program Mobile Robot .................... III - 30 Gambar 3.24 Aplikasi Mobile Pengendali Mobile Robot ...................... III - 31 Gambar 3.25 Bluetooth DFRobot v3 .................................................... III - 32 Gambar 3.26 Mobile Robot Prototype Kedua ...................................... III - 33
xvii
Gambar 4.1 Gambaran Lingkungan Sistem ......................................... IV - 1 Gambar 4.2 Use Case Prototype Akhir ............................................... IV - 3 Gambar 4.3 Activity Diagram Prototype Akhir .................................... IV - 8 Gambar 4.4 Dimensi Servo HS 311 ..................................................... IV - 9 Gambar 4.5 Servo Motor Gripper ....................................................... IV - 10 Gambar 4.6 Aluminium “L” atau Aluminium Siku-siku ....................... IV - 11 Gambar 4.7 Sketsa Dudukan Servo / Bahu .......................................... IV - 12 Gambar 4.8 Rangka Lengan Robot Bagian Kiri dan Kanan .................. IV - 13 Gambar 4.9 Rangkaian Motor Driver .................................................. IV - 14 Gambar 4.10 Perancangan Terminal Power (9,6 dan 5 V) .................... IV - 15 Gambar 4.11 Pin Mapping ATMega 2560 pada Mega ADK 2560 ......... IV - 16 Gambar 4.12 Pseudocode Mobile Robot............................................... IV - 20 Gambar 4.13 DFRobot Bluetooth Versi 3 ............................................. IV - 21 Gambar 4.14 Schematic Diagram Arduino Duemilanove 2009 ............. IV - 22 Gambar 4.15 Arduino Duemilanove .................................................... IV - 23 Gambar 4.16 Sketsa Modul XBee Series 2............................................ IV - 24 Gambar 4.17 Rancangan Libelium XBee Shield .................................... IV - 25 Gambar 4.18 Pseudocode untuk Program Router ................................. IV - 26 Gambar 4.19 Rancangan Logo Aplikasi .............................................. IV - 27 Gambar 4.20 Rancangan Splash Screen ............................................... IV - 27 Gambar 4.21 Rancangan Halaman Utama ............................................ IV - 28 Gambar 4.22 Perancangan User Interface Prototype Akhir (layer 1) .... IV - 29
xviii
Gambar 4.23 Perancangan User Interface Prototype Akhir (layer 2) .... IV - 29 Gambar 4.24 Perancangan User Interface Dialog Box .......................... IV - 30 Gambar 5.1 XBee + Shield Dipasangkan pada Arduino ....................... V - 2 Gambar 5.2 XBee Mode Coordinator Configuration ............................ V - 3 Gambar 5.3 XBee Mode Router Configuration ..................................... V - 3 Gambar 5.4 Rangka Lengan Robot dan Pondasi Bahu .......................... V - 5 Gambar 5.5 Rangka Bahu + Servo ...................................................... V - 6 Gambar 5.6 Lengan Robot Sebelum Dipasangkan ................................ V - 6 Gambar 5.7 Implementasi Dudukan Kamera ....................................... V - 7 Gambar 5.8 Schematic Diagram Motor Driver ..................................... V - 8 Gambar 5.9 PCB Matriks ..................................................................... V - 9 Gambar 5.10 Board Motor Driver ........................................................ V - 9 Gambar 5.11 Terminal Power .............................................................. V - 10 Gambar 5.12 Penggabungan Mekanika dan Kelistrikan ....................... V - 11 Gambar 5.13 Router ............................................................................. V - 22 Gambar 5.14 Galaxy Wonder ............................................................... V - 25 Gambar 5.15 Implementasi User Interface Logo Aplikasi .................... V - 26 Gambar 5.16 Implementasi User Interface Splash Screen .................... V - 27 Gambar 5.17 Implementasi User Interface Halaman Utama ................. V - 28 Gambar 5.18 User Interface Dialog Box Aktivasi Bluetooth ................ V - 29 Gambar 5.19 User Interface Dialog Box Proses Aktivasi BT ................ V - 29 Gambar 5.20 Implementasi User Interface Setting IP ........................... V - 30
xix
Gambar 5.21 User Interface Sinkronisasi Bluetooth ............................. V - 30 Gambar 5.22 User Interface Pengendali Robot Layer 1 ........................ V - 31 Gambar 5.23 User Interface Pengendali Robot Layer 2 ........................ V - 32 Gambar 5.24 Implementasi User Interface Petunjuk Penggunaan ......... V - 33 Gambar 5.25 Implementasi User Interface Tentang Aplikasi .............. V - 33 Gambar 5.26 User Interface Dilaog Box Konfirmasi Keluar ................ V - 34 Gambar 5.27 Implementasi Toast Kondisi Bluetooth Off ...................... V - 34 Gambar 5.28 Lampu Indikator Pada Sinkronisasi Berhasil .................. V - 42 Gambar 5.29 Terminal Serial Arduino Pengujian Router...................... V - 43
xx
